“Do you want me to take over?”
You and your family are making homemade ice cream with an old-fashioned ice cream maker. Someone has to turn it by hand. Your sister has been doing it for a few minutes and seems tired, so you offer to do it.
Do you want me to take over?
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Do you want me to (do something)?
Use this phrase when you're offering to do something that will help the listener or make them happy.
Do you want me to call a doctor?
Do you want me to leave you alone?
Do you want me to cook tonight?
When you use this phrase, you sound like you're offering to do something that will make the listener happy. It doesn't sound like you want to do it for your own enjoyment.
take over (doing something)
When someone is doing a job, and you switch and start doing the job instead of them, you're "taking over". For example, you might "take over" stirring some food in a frying pan, or "take over" at the cash register at a store that you work at.
To explain who was doing the job before, you can say "take over for ___":
I can take over for Jess while she takes her lunch break.